#include <string>
extern int xbias,ybias,zbias,rbias;
extern float deepbias;

extern int TARGETSIZE;//if boxsize>this value
					  // continue to correct orientation when position is correct
extern int MINSIZETOCONTROL;//if boxsize<this value:
							//1,approach when correcting position
							//2,consider crossing done when dashing
							//3,NOT to enter box crossing processure in middle state
extern int MAXSIZETOCONTROL;//if boxsize>this value:
							//1,retreat when correctting position
							//2,return to position correction when correcting orientation
							//3,choose NOT to return to position correcting when bias arisen during dashing
extern float detectConfidence;//confidence of detection
extern float xp,yp,xi,yi,xd,yd,xr,yr,wr,hr,xq,yq,wq,hq;
extern float lmp,lmi,lmd;
//pid 中error>0 时输出>0
extern int yawOver;//1 means turn right first(r>0) when finding landmark
extern int xslow,xmedium,xfast;//3 forward speed(x) state
extern float yawthrott;//threshold when finding landmark
extern std::string cfgname,wtsname,camdataname;
extern int camIndexA,camIndexB;
extern int BALLID;//1 means blue 0 means red
extern int choosePath;//0 means choose left path,1 means right
extern int qualifiedLandmark;//minor size for a landmark to be considered usable
extern int qualifiedBall,maxBall;//minor size for a Ball to be considered usable
extern int qualifiedFrame;//minor size for a frame to be considered usable